private void ResetPosition() { if (!isAnimationStart) { newState = actualJointState; } if (trajectory != null) { urdfJoint.UpdateJointState(trajectory[0] - newState); } }
public void UpdateJointState_Succeeds() { GameObject baseObject = new GameObject("base"); GameObject linkObject = new GameObject("link"); linkObject.transform.parent = baseObject.transform; UrdfJoint.Create(baseObject, UrdfJoint.JointTypes.Fixed); UrdfJoint joint = UrdfJointRevolute.Create(linkObject); ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>(); Assert.AreEqual(0, articulationBody.xDrive.target); joint.UpdateJointState(1); Assert.AreEqual(1 * Mathf.Rad2Deg, articulationBody.xDrive.target); Object.DestroyImmediate(baseObject); }
private void WriteUpdate() { urdfJoint.UpdateJointState(newState - prevState); prevState = newState; }